Add the voltage and lateral accel curvature pass
We now have enough math here to now talk about the lateral acceleration
and the max velocity to only use a 12 volt battery.
Change-Id: I13330a1f164e751276c12c18cdc61b629d4295df
diff --git a/frc971/control_loops/python/polydrivetrain.py b/frc971/control_loops/python/polydrivetrain.py
index 29fdeef..c87c1e6 100644
--- a/frc971/control_loops/python/polydrivetrain.py
+++ b/frc971/control_loops/python/polydrivetrain.py
@@ -132,6 +132,12 @@
self.U_max = self._drivetrain.U_max
self.U_min = self._drivetrain.U_min
+ @property
+ def robot_radius_l(self):
+ return self._drivetrain.robot_radius_l
+ @property
+ def robot_radius_r(self):
+ return self._drivetrain.robot_radius_r
class VelocityDrivetrain(object):
HIGH = 'high'